Drivers fundamentally want good pay per hour of their life traded, less gas cost, and ideally, to do as little driving as possible for the money. Beyond that they want as close to a frictionless experience as possible. Proper UX flows in the app, not get a fresh order right after they've left Walmart, not to have to backtrack, and customers that don't start trouble. Every one of those incentives is misaligned, and it has to be, the company wants to pay as little as possible and charge an optimum rate for maximum revenue, they want drivers to take an order no matter how much of a pain in the ass it is, they want customers to pay them, even nasty ones.
It's nice to believe that solving problems for one solves problems for everybody, but fundamentally the business model is about pushing externalities onto drivers.